In my experience, sleeping with dogs in the bed is great sometimes and not that great most of the time. It leads to tons of fur in the bed (if you have a furry breed) which is something that gets very annoying very quickly, and I've historically never slept as well when the dogs are taking up some of the real estate in the bed.

I prefer furry dogs and I know that the hair comes with it, but the bed is the one place in my home where I don't wanna be drowning in it, period. Also I like to move around while I sleep, so having my pup on the bed kind of hinders that. I feel guilty if I'm bumping them in the night with my motion.

So that's just one perspective for you. I love my dog, but I have no problem having her sleep on one of her dog beds in her crate with the door open.